U.S. patent application number 16/172059 was filed with the patent office on 2019-05-09 for barrier access for autonomous vehicle.
This patent application is currently assigned to Robin Technologies, Inc.. The applicant listed for this patent is Justin [nmi] Crandall, Bart M. Lomont, David J. Melbourne. Invention is credited to Justin [nmi] Crandall, Bart M. Lomont, David J. Melbourne.
Application Number | 20190136563 16/172059 |
Document ID | / |
Family ID | 66326868 |
Filed Date | 2019-05-09 |
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United States Patent
Application |
20190136563 |
Kind Code |
A1 |
Crandall; Justin [nmi] ; et
al. |
May 9, 2019 |
Barrier Access for Autonomous Vehicle
Abstract
Access control for an autonomous vehicle through a door in a
doorway. A magnet is attached to the autonomous vehicle and a
magnetometer is located some distance from the doorway. The
magnetometer outputs a magnetometer signal in response to detecting
the magnet, which causes the transmitter to transmit a detection
signal. A doorway device is fixed about the doorway, and includes a
receiver, and a locking mechanism with a locking pin. The doorway
device retracts the pin to unlock the door for a predetermined
period of time in response to receipt of the detection signal, and
extents the pin to lock the door after the predetermined period of
time ends.
Inventors: |
Crandall; Justin [nmi];
(Dallas, TX) ; Lomont; Bart M.; (Dallas, TX)
; Melbourne; David J.; (Arlington, TX) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Crandall; Justin [nmi]
Lomont; Bart M.
Melbourne; David J. |
Dallas
Dallas
Arlington |
TX
TX
TX |
US
US
US |
|
|
Assignee: |
Robin Technologies, Inc.
Dallas
TX
|
Family ID: |
66326868 |
Appl. No.: |
16/172059 |
Filed: |
October 26, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
62582488 |
Nov 7, 2017 |
|
|
|
62582496 |
Nov 7, 2017 |
|
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01R 33/0206 20130101;
E05Y 2900/106 20130101; G05D 2201/0208 20130101; E05B 65/0021
20130101; G01V 3/081 20130101; E04H 6/426 20130101; E05B 2047/0067
20130101; E05F 15/76 20150115; E05Y 2400/445 20130101; A01D 34/008
20130101; E04H 6/422 20130101; G01R 33/0017 20130101; E05F 15/79
20150115; E05B 47/00 20130101; G05D 1/0265 20130101; E05Y 2400/20
20130101; E05Y 2400/44 20130101 |
International
Class: |
E04H 6/42 20060101
E04H006/42; E05B 65/00 20060101 E05B065/00; E05B 47/00 20060101
E05B047/00; E05F 15/76 20060101 E05F015/76; E05F 15/79 20060101
E05F015/79; G01R 33/02 20060101 G01R033/02; G01V 3/08 20060101
G01V003/08 |
Claims
1. A system for controlling access by an autonomous vehicle through
a door in a doorway, comprising: a magnet fixed to the autonomous
vehicle; a magnetometer located a distance from the doorway, and
coupled to a transmitter, and wherein said magnetometer outputs a
magnetometer signal in response to said magnet, which causes said
transmitter to transmit a detection signal; a doorway device fixed
about the doorway, which further comprises a receiver corresponding
to said transmitter, and a locking mechanism having a pin that is
selectively extendable and retractable to lock and unlock the door,
respectively, and wherein said doorway device retracts said pin to
unlock said door for a predetermined period of time in response to
receipt of said detection signal, and wherein said doorway device
extents said pin to lock said door after said predetermined period
of time.
2. The system of claim 1, and wherein: said predetermined period of
time begins as a function of said distance and a speed of travel of
the autonomous vehicle, which is selected to retract said pin prior
to arrival of the autonomous vehicle at the door, and wherein said
predetermined period of time duration is selected to extend said
pin after the autonomous vehicles, traveling at said speed of
travel, has passed through the door.
3. The system of claim 2, and wherein the door is coupled to the
doorway by a hinge, and wherein: the autonomous vehicle engages the
door and pushes it open as it passes through the doorway, and
wherein said predetermined period of time is further selected to
extend said pin after the door returns to a closed position.
4. The system of claim 1, and wherein: said magnetometer signal is
proportional to the distance between said magnet and said
magnetometer, and wherein said magnetometer signals are compared
over time to determined when said magnet is within twelve inches
from said magnetometer, to thereby transmit said detection signal
and initiate said predetermined period of time.
5. The system of claim 4, and wherein: said magnetometer signal
includes X, Y, and Z dimension components, and wherein said X, Y,
and Z dimension components are compared over time to detect the
presence of said magnet.
6. The system of claim 1, and wherein the autonomous vehicle
follows plural guide wires embedded in the ground, and further
comprising: a perimeter switch controller coupled to receive said
detection signal, and responsive thereto to switch among the plural
guide wires to thereby direct the autonomous vehicle through the
doorway.
7. The system of claim 6, and wherein: said magnetometer is buried
in the earth adjacent one of the plural guide wires that the
autonomous vehicle follows.
8. A system for access control for an autonomous vehicle through a
door in a doorway, comprising: a magnet fixed to the autonomous
vehicle; a magnetometer located a distance from the doorway, and
coupled to a transmitter, and wherein said magnetometer outputs a
magnetometer signal in response to said magnet, which causes said
transmitter to transmit a detection signal; a doorway device fixed
about the doorway, and having a receiver corresponding to said
transmitter, said doorway device coupled to open the door for a
predetermined period of time in response to receipt of said
detection signal by said receiver, and wherein said doorway device
closes the door after said predetermined period of time.
9. The system of claim 8, and wherein: said predetermined period of
time begins as a function of said distance and a speed of travel of
the autonomous vehicle, and which is selected to open the door
prior to arrival of the autonomous vehicle at the door, and wherein
said predetermined period of time duration is selected to close the
door after the autonomous vehicle, traveling at said speed of
travel, has passed through the door.
10. The system of claim 8, and wherein: said magnetometer signal is
proportional to the distance between said magnet and said
magnetometer, and wherein said magnetometer signals are compared
over time to determined when said magnet is within twelve inches
from said magnetometer, to thereby transmit said detention signal
and initiate said predetermined period of time.
11. The system of claim 8, and wherein the autonomous vehicle
follows plural guide wires embedded in the ground, and further
comprising: a perimeter switch controller coupled to receive said
detection signal, and responsive thereto to switch among the plural
guide wires to thereby direct the autonomous vehicle through the
doorway.
12. The system of claim 11, and wherein: said magnetometer is
buried in the earth adjacent one of the plural guide wires that the
autonomous vehicle follows.
13. A method for controlling access by an autonomous vehicle,
having a magnet attached thereto, through a door in a doorway
having a doorway device fixed thereto, the doorway device including
a receiver and a locking mechanism having a selectively operable
locking pin, and, a magnetometer positioned a distance from the
doorway, which is coupled to a transmitter corresponding to the
receiver, the method comprising the steps of: outputting a
magnetometer signal from the magnetometer to the transmitter in
response to the presence of the autonomous vehicle and magnet being
near the magnetometer; transmitting a detection signal from the
transmitter in response to said magnetometer signal; retracting the
locking pin by the doorway device for a predetermined period of
time in response to receiving the detection signal, thereby
unlocking the door, and extending the locking pin to lock the door
at the end of the predetermined period of time.
14. The method of claim 13, further comprising the steps of:
beginning the predetermined period of time as a function of the
distance and a speed of travel of the autonomous vehicle, which is
selected to retract the pin prior to arrival of the autonomous
vehicle at the doorway, and ending the predetermined period of time
and extending the pin to lock the door after the autonomous
vehicle, traveling at the speed of travel, has passed through the
doorway.
15. The method of claim 14, and wherein the door is coupled to the
doorway by a hinge, further comprising the steps of: pushing the
door open by the autonomous vehicle as it passes through the
doorway, and further selecting the duration of the predetermined
period of time, thereby extending the pin after the door returns to
a closed position.
16. The method of claim 13, wherein the magnetometer signal is
proportional to the distance between the magnet and the
magnetometer, and further comprising the steps of: comparing
magnetometer signals over time, thereby determining when the magnet
is within twelve inches of the magnetometer, and thereby initiating
the predetermined period of time.
17. The method of claim 13, and wherein the autonomous vehicle
follows plural guide wires embedded in the ground, and wherein a
perimeter switch controller is coupled to receive the detection
signal, and further comprising the steps of: switching among the
plural guide wires by the perimeter switch controller in response
to the detection signal, thereby directing the autonomous vehicle
through the doorway.
18. A method for controlling access by an autonomous vehicle,
having a magnet attached thereto, through a door in a doorway
having a doorway device fixed thereto, the doorway device including
a receiver and a door operating mechanism selectively operable to
open and close the door, and, a magnetometer positioned a distance
from the doorway, which is coupled to a transmitter corresponding
to the receiver, the method comprising the steps of: outputting a
magnetometer signal from the magnetometer to the transmitter in
response to the presence of the autonomous vehicle and magnet being
near the magnetometer; transmitting a detection signal from the
transmitter in response to said magnetometer signal; opening the
door by the doorway device for a predetermined period of time in
response to receiving the detection signal, and closing the door at
the end of the predetermined period of time.
19. The method of claim 18, further comprising the steps of:
beginning the predetermined period of time as a function of the
distance and a speed of travel of the autonomous vehicle, which is
selected to open the door prior to arrival of the autonomous
vehicle at the door, and ending the predetermined period of time
and closing the door after the autonomous vehicles, traveling at
the speed of travel, has passed through the doorway.
20. The method of claim 18, wherein the magnetometer signal is
proportional to the distance between the magnet and the
magnetometer, and further comprising the steps of: comparing
magnetometer signals over time, thereby determining when the magnet
is within twelve inches of the magnetometer, and thereby initiating
the predetermined period of time.
Description
RELATED APPLICATIONS
[0001] This disclosure claims priority to U.S. provisional patent
application Ser. No. 62/582,488 filed on Nov. 7, 2017 and U.S.
provisional patent application Ser. No. 62/582,496 filed on Nov. 7,
2017.
BACKGROUND OF THE INVENTION
Field of the Invention
[0002] The present disclosure generally relates to a system and
method for detecting the presence of certain vehicles, including
robotic lawnmowers, and selectively permitting the vehicle to pass
through a barrier.
Description of the Related Art
[0003] In housing and business developments, a properly kept lawn
is desirable, can increase property values, and may actually be
required under various association rules. Maintaining a grass lawn
requires frequent mowing. Lawn mowing has traditionally been
conducted by various types of powered and unpowered lawnmowers. In
recent years, robotic mowers have been increasingly utilized by
homeowners, renters, governments, business owners, and property
owners. Robotic mowers automatically mow one or more sections of
grass. Robotic mowers are controlled by a guidance system, and are
programmable according to certain schedules, functions, and lawn
areas. Different lawn areas may be separated from each other by a
physical barrier, such as walls, fences, hedgerows, and such, which
have an opening therein through which a robotic mower may pass.
Commonly, such an opening, or doorway, may include a door or gate
that is installed to limit access for people, animals, debris, and
for general security purposes. While robotic mowers are designed to
operate in various areas and along various pathways, a system for
detecting a robotic mower and selectively allowing the robotic
mower to pass through a barrier while preventing animals, debris or
intruders from passing through the barrier does not exist.
[0004] Thus, it can be appreciated that there is a need in the art
for systems and methods for detecting the presence of certain
vehicles, including robotic lawnmowers, and selectively permitting
the vehicle to pass through a barrier, including operation of a
door in a doorway. Note that the description provided in this
Background section should not be assumed to be prior art merely
because it is mentioned in or associated with this Background
section. This Background section may include information that
describes one or more aspects of the subject technology.
SUMMARY OF THE INVENTION
[0005] The need in the art is address by the teachings of the
present disclosure. The present disclosure teaches a system for
controlling access by an autonomous vehicle through a door in a
doorway. The system includes a magnet attached to the autonomous
vehicle and a magnetometer located some distance from the doorway,
and also coupled to a transmitter. The magnetometer outputs a
magnetometer signal in response to detecting the magnet, which
causes the transmitter to transmit a detection signal. A doorway
device is fixed about the doorway, and further includes a receiver,
corresponding to the transmitter, and a locking mechanism that has
a pin that is selectively extendable and retractable to lock and
unlock the door, respectively. The doorway device retracts the pin
to unlock the door for a predetermined period of time in response
to receipt of the detection signal, and the doorway device later
extents the pin to lock the door after the predetermined period of
time.
[0006] In a specific embodiment of the foregoing system, the
predetermined period of time begins as a function of the distance
the magnetometers is from the doorway and the speed of travel of
the autonomous vehicle, which is selected to retract the pin prior
to arrival of the autonomous vehicle at the door. The predetermined
period of time duration is selected so that the pin is extended
after the autonomous vehicles, traveling at the speed of travel,
has passed through the door. In a refinement to this embodiment,
where the door is coupled to the doorway by a hinge, the autonomous
vehicle engages the door and pushes it open as it passes through
the doorway, and the predetermined period of time is further
selected to extend the pin after the door returns to a closed
position.
[0007] In a specific embodiment of the foregoing system, the
magnetometer signal is proportional to the distance between the
magnet and the magnetometer, and the magnetometer signals are
further compared over time to determined when the magnet is within
twelve inches from the magnetometer, to thereby transmit the
detection signal and initiate the predetermined period of time. In
another specific embodiment, the magnetometer signal includes X, Y,
and Z dimension components, and the X, Y, and Z dimension
components are compared over time to detect the presence of the
magnet.
[0008] In a specific embodiment of the foregoing system, where the
autonomous vehicle follows plural guide wires embedded in the
ground, the system further includes a perimeter switch controller
coupled to receive the detection signal, which is responsive
thereto to switch among the plural guide wires to direct the
autonomous vehicle through the doorway. In a refinement to this
embodiment, the magnetometer is buried in the earth adjacent one of
the plural guide wires that the autonomous vehicle follows.
[0009] The present disclosure also teaches a system for access
control for an autonomous vehicle through a door in a doorway. This
embodiment includes a magnet attached to the autonomous vehicle and
a magnetometer located a distance from the doorway, and also
coupled to a transmitter. The magnetometer outputs a magnetometer
signal in response to the magnet, which causes the transmitter to
transmit a detection signal. A doorway device is fixed around the
doorway, and has a receiver corresponding to the transmitter. The
doorway device is coupled to open the door for a predetermined
period of time in response to receipt of the detection signal by
the receiver, and the doorway device closes the door after the
predetermined period of time.
[0010] In a specific embodiment of the foregoing system, the
predetermined period of time begins as a function of the distance
and a speed of travel of the autonomous vehicle, and is also
selected to open the door prior to arrival of the autonomous
vehicle at the door. Also, the predetermined period of time
duration is selected to close the door after the autonomous
vehicle, traveling at the speed of travel, has passed through the
door.
[0011] In a specific embodiment of the foregoing system, the
magnetometer signal is proportional to the distance between the
magnet and the magnetometer, and the magnetometer signals are
compared over time to determined when the magnet is within twelve
inches from the magnetometer, to thereby transmit the detention
signal and initiate the predetermined period of time.
[0012] In a specific embodiment of the foregoing system, where the
autonomous vehicle follows plural guide wires embedded in the
ground, the system further includes a perimeter switch controller
that receives the detection signal, and is responsive thereto to
switch among the plural guide wires to direct the autonomous
vehicle through the doorway. In a refinement to this embodiment,
the magnetometer is buried in the earth adjacent one of the plural
guide wires that the autonomous vehicle follows.
[0013] The present disclosure also teaches a method for controlling
access by an autonomous vehicle, which has a magnet attached
thereto, through a door in a doorway that has a doorway device
fixed thereto. The doorway device including a receiver and a
locking mechanism with a selectively operable locking pin, and, a
magnetometer positioned a distance from the doorway, which is
coupled to a transmitter corresponding to the receiver. The method
includes outputting a magnetometer signal from the magnetometer to
the transmitter in response to the presence of the autonomous
vehicle and magnet being near the magnetometer, then, transmitting
a detection signal from the transmitter in response to the
magnetometer signal. And, retracting the locking pin by the doorway
device for a predetermined period of time in response to receiving
the detection signal, thereby unlocking the door, and, extending
the locking pin to lock the door at the end of the predetermined
period of time.
[0014] In a specific embodiment, the foregoing method further
includes beginning the predetermined period of time as a function
of the distance and a speed of travel of the autonomous vehicle,
which is selected to retract the pin prior to arrival of the
autonomous vehicle at the doorway, and, ending the predetermined
period of time and extending the pin to lock the door after the
autonomous vehicle, traveling at the speed of travel, has passed
through the doorway. In a refinement to this embodiment, where the
door is coupled to the doorway by a hinge, the method further
includes pushing the door open by the autonomous vehicle as it
passes through the doorway, and, further selecting the duration of
the predetermined period of time, thereby extending the pin after
the door returns to a closed position.
[0015] In a specific embodiment of the foregoing method, where the
magnetometer signal is proportional to the distance between the
magnet and the magnetometer, the method further includes comparing
magnetometer signals over time, thereby determining when the magnet
is within twelve inches of the magnetometer, and thereby initiating
the predetermined period of time.
[0016] In a specific embodiment of the foregoing method, where the
autonomous vehicle follows plural guide wires embedded in the
ground, and wherein a perimeter switch controller is coupled to
receive the detection signal, the method further includes switching
among the plural guide wires by the perimeter switch controller in
response to the detection signal, thereby directing the autonomous
vehicle through the doorway.
[0017] The present disclosure also teaches a method for controlling
access by an autonomous vehicle, which has a magnet attached
thereto, through a door in a doorway that also has a doorway device
fixed thereto, where the doorway device includes a receiver and a
door operating mechanism selectively operable to open and close the
door, and, a magnetometer positioned a distance from the doorway,
which is coupled to a transmitter corresponding to the receiver.
The method includes outputting a magnetometer signal from the
magnetometer to the transmitter in response to the presence of the
autonomous vehicle and magnet being near the magnetometer, and,
transmitting a detection signal from the transmitter in response to
the magnetometer signal. And, opening the door by the doorway
device for a predetermined period of time in response to receiving
the detection signal, and then closing the door at the end of the
predetermined period of time.
[0018] In a specific embodiment, the foregoing method further
includes beginning the predetermined period of time as a function
of the distance and the speed of travel of the autonomous vehicle,
which is selected to open the door prior to arrival of the
autonomous vehicle at the door. And, ending the predetermined
period of time and closing the door after the autonomous vehicles,
traveling at the speed of travel, has passed through the
doorway.
[0019] In a specific embodiment of the foregoing method, where the
magnetometer signal is proportional to the distance between the
magnet and the magnetometer, the method further includes comparing
magnetometer signals over time, thereby determining when the magnet
is within twelve inches of the magnetometer, and thereby initiating
the predetermined period of time.
BRIEF DESCRIPTION OF THE DRAWINGS
[0020] FIG. 1 is a functional block diagram of an in ground vehicle
sensor system according to an illustrative embodiment of the
present invention.
[0021] FIG. 2 is a drawing of a door in a doorway through a
barrier, and with doorway device, according to an illustrative
embodiment of the present invention.
[0022] FIG. 3 is a drawing of a robotic mower engaging an in ground
vehicle sensor according to an illustrative embodiment of the
present invention.
[0023] FIG. 4 is a functional block diagram of a door latch
sequence according to an illustrative embodiment of the present
invention.
[0024] FIG. 5 is a plan view drawing of a perimeter wire arranged
in a lawn areas adjacent a building, and according to an
illustrative embodiment of the present invention.
DESCRIPTION OF THE INVENTION
[0025] Illustrative embodiments and exemplary applications will now
be described with reference to the accompanying drawings to
disclose the advantageous teachings of the present invention.
[0026] While the present invention is described herein with
reference to illustrative embodiments for particular applications,
it should be understood that the invention is not limited thereto.
Those having ordinary skill in the art and access to the teachings
provided herein will recognize additional modifications,
applications, and embodiments within the scope hereof and
additional fields in which the present invention would be of
significant utility.
[0027] In considering the detailed embodiments of the present
invention, it will be observed that the present invention resides
primarily in combinations of steps to accomplish various methods or
components to form various apparatus and systems. Accordingly, the
apparatus and system components, and method steps, have been
represented where appropriate by conventional symbols in the
drawings, showing only those specific details that are pertinent to
understanding the present invention so as not to obscure the
disclosure with details that will be readily apparent to those of
ordinary skill in the art having the benefit of the disclosures
contained herein.
[0028] In this disclosure, relational terms such as first and
second, top and bottom, upper and lower, and the like may be used
solely to distinguish one entity or action from another entity or
action without necessarily requiring or implying any actual such
relationship or order between such entities or actions. The terms
"comprises," "comprising," or any other variation thereof, are
intended to cover a non-exclusive inclusion, such that a process,
method, article, or apparatus that comprises a list of elements
does not include only those elements but may include other elements
not expressly listed or inherent to such process, method, article,
or apparatus. An element proceeded by "comprises a" does not,
without more constraints, preclude the existence of additional
identical elements in the process, method, article, or apparatus
that comprises the element.
[0029] To illustrate the interchangeability of hardware and
software, items such as the various illustrative blocks, modules,
components, methods, operations, instructions, and algorithms have
been described generally in terms of their functionality. Whether
such functionality is implemented as hardware, software or a
combination of hardware and software depends upon the particular
application and design constraints imposed on the overall system.
Those skilled in the art may implement the described functionality
with alternative components for other applications.
[0030] A reference to an element in the singular is not intended to
mean "one and only one" unless specifically stated, but rather "one
or more." Pronouns in the masculine (e.g., his) include the
feminine and neuter gender (e.g., her and its) and vice versa. The
term "some" refers to one or more. All structural and functional
equivalents to the elements of the various configurations described
throughout this disclosure that are known or become known at a
later time by those of ordinary skill in the art are expressly
incorporated herein by reference and intended to be encompassed by
the subject technology. Moreover, nothing disclosed herein is
intended to be dedicated to the public regardless of whether such
disclosure is explicitly recited in the above description. No
clause element is to be construed under the provisions of 35 U.S.C.
.sctn. 112, sixth paragraph, unless the element is expressly
recited using the phrase "means for" or, in the case of a method
clause, the element is recited using the phrase "step for."
[0031] While this written description contains many specifics,
these should not be construed as limitations on the scope of what
may be described, but rather as descriptions of particular
embodiments of the subject matter. Certain features that are
described in this specification in the context of separate
embodiments can also be implemented in combination in a single
embodiment. Conversely, various features that are described in the
context of a single embodiment can also be implemented in multiple
embodiments separately or in any suitable sub-combination.
Moreover, although features may be described above as acting in
certain combinations and even initially described as such, one or
more features from a described combination can in some cases be
excised from the combination, and the described combination may be
directed to a sub-combination or variation of a
sub-combination.
[0032] The Title, Background, Brief Description of the Drawings,
Abstract, and Drawings are hereby incorporated into the disclosure
and are provided as illustrative examples of the disclosure, not as
restrictive descriptions. It is submitted with the understanding
that they will not be used to limit the scope or meaning of the
claims. In addition, in the detailed description, it can be seen
that the description provides illustrative examples and the various
features are grouped together in various implementations for the
purpose of streamlining the disclosure. The method of disclosure is
not to be interpreted as reflecting an intention that the described
subject matter requires more features than are expressly recited in
each claim. Rather, as the claims reflect, inventive subject matter
lies in less than all features of a single disclosed configuration
or operation. The claims are hereby incorporated into the detailed
description, with each claim standing on its own as a separately
described subject matter.
[0033] In the following detailed description, numerous specific
details are set forth to provide a full understanding of the
present disclosure. It will be obvious, however, to one ordinarily
skilled in the art that the implementations of the present
disclosure may be practiced without some of these specific details.
In other instances, well-known structures and techniques have not
been described in detail to avoid obscuring the disclosure.
[0034] A need exists for a system and method for detecting the
presence of a robotic mower and selectively allowing the robotic
mower to pass through a barrier while preventing animals, debris or
intruders from passing through the barrier. In certain aspects of
this disclosure, a doorway device is provided for a door in a
doorway opening through a barrier. The doorway device communicates
with a vehicle, selectively unlocks to allow the vehicle to pass
through the door and doorway, and locks after the vehicle has
passed through. In some implementations, the vehicle is a robotic
lawnmower, or a robotic mower, which operates autonomously,
according to a pre-set route or according to remote control. The
robotic mower may be powered by electric motors and propelled by
wheels and/or tracks. The robotic mower may include batteries as
the source of energy or the robotic mower may be supplied with
power from a central electric grid. However, embodiments disclosed
are not limited to robotic lawnmowers or robotic mowers. Any type
of self-propelled vehicle, including a robotic vacuum cleaner and a
transportation vehicle for humans or cargo can be detected based on
the disclosed embodiments, without departing from the scope of the
disclosure.
[0035] The barrier may be a fence, wall, door or other obstacle. An
automated doorway system of the present disclosure allows free
movement of the vehicle between different areas separated by
barriers, thus enabling the device to access remote grass areas,
multiple grass areas, chargers and storage spaces. Absent this
disclosure, it is required for an operator to manually relocate a
robotic mower to allow access to areas separated by barriers. This
is physically challenging, time-consuming and forces the robotic
mower to rely on the availability of an operator.
[0036] In some embodiments, the vehicle may be detected using a
wireless communication system. For example, the wireless
communication system may include a magnetometer sensor system
including a magnetometer sensor for communicating with the doorway
device, and a magnet installed on the vehicle. A benefit of using
the magnetometer sensor system, as disclosed herein, is that the
magnetometer sensor system may detect objects, the vehicle in this
case, that may not always be located at a fixed distance from
magnetometer sensor system (or, more specifically, from the
magnetometer sensor). In this regard, it should be noted that the
position of the magnetometer sensor may be stationary, while the
object to be detected may be located at substantially varying
distances from the magnetometer sensor. For instance, the object to
be detected may be a mobile object (e.g., vehicle 202, as discussed
below) and the mobile object may take different routes that may be
at different distances from the magnetometer sensor. It will thus
be understood that the magnetometer sensor system, according to
embodiments disclosed, may be used in any application where
distances between the magnetometer sensor and the object to be
detect are not fixed.
[0037] Reference is directed to FIG. 1, which illustrates an
exemplary magnetometer sensor system 100. The magnetometer sensor
system 100 includes a magnetometer sensor 102, a processing unit
104, a wireless transmitter 106, having an antenna 107, and a
perimeter switch controller 108. The perimeter switch controller
108 is coupled to plural switching units 110 that may be used to
route and reroute the perimeter wire connections (not shown). The
magnetometer sensor 102 may be installed along, or adjacent to, the
route taken by the robotic mower (not shown) to access the doorway,
and thereby the door, as described hereinafter. In an illustrative
embodiment, the magnetometer sensor 102 may be installed in the
ground in or along the route taken by the mower. The processing
unit 104 receives a signal from the magnetometer sensor 102
indicative of the presence of the mower in the vicinity thereof. In
an example, the magnetometer sensor 102 may be configured to sense
the presence of the mower within a radius of about twelve inches
from the magnetometer sensor 102. The processing unit 104 may
process the received signal and actuate, or otherwise control, the
wireless transmitter 106 to transmit a signal to a wireless
receiver (not shown) mounted on the doorway and/or door (not shown)
through an antenna 107. Upon receipt of the signal, the wireless
receiver (not shown) instructs a controller in the doorway device
to direct a locking mechanism to retract a pin, thus unlocking a
door of the doorway device and enabling the mower to pass through
the doorway. This process is more fully discussed hereinafter.
[0038] The processing unit 104 may also process the signal received
from the magnetometer sensor 102 to generate a control signal for
actuating, or otherwise controlling, the perimeter switch
controller 108. Generally, in order to reach a charging base, such
as item 406 in FIG. 4, the robotic mower 202 in FIG. 4 is
configured to follow a charged perimeter wire 402, or other
conductor, buried in the ground in a loop 402 as illustrated in
FIG. 4.
[0039] No referring to FIG. 2, upon receipt of the signal
transmitted by wireless transmitter 106 through its antenna 107, a
wireless receiver within the doorway device 128 receives the signal
through its antenna 132. This instructs a controller in the doorway
device 128 to direct a locking mechanism therein to retract a pin
130, thus unlocking a door 126 in a doorway 124, that is disposed
in a barrier 122, and enabling the vehicle to pass through the
doorway 124. This process will be described below in greater
detail.
[0040] In an exemplary embodiment, the magnetometer sensor 102 may
be buried in the ground in the vicinity of the doorway device 128.
FIG. 3 illustrates a vehicle 202 and the magnetometer sensor 102
installed in the ground. As illustrated in FIG. 3, a magnet 204,
such as a rare earth magnet, is installed underneath the vehicle
202 such that the magnet 204 may be detected by the magnetometer
sensor 102 buried in the ground when the magnet 204 is within a
certain distance of the magnetometer sensor 102. However, the
location of the magnet 204 on the vehicle 202 is not limited to a
particular location, and the magnet 204 may be installed at any
location on the vehicle as long as the magnet 204 is detected by
the magnetometer sensor 102.
[0041] The magnetometer sensor 102 may be battery operated and may
be incased in a waterproof enclosure to protect the magnetometer
sensor 102. One or more other components of the magnetometer sensor
system 100 may be located remote from the magnetometer sensor 102
or may be located with the magnetometer sensor 102. For instance,
the processing unit 104 and the perimeter switch controller 108 may
be incased in the enclosure along with the magnetometer sensor 102,
while the wireless transmitter 106 may be at an above ground
location. The wireless transmitter 106 may successfully send a
wireless signal that is received by the wireless receiver at a
certain maximum distance, which may be approximately 5-10 feet.
[0042] The processing unit 104 may be configured with the base
values of the magnetic field (in the X, Y, and Z planes, referred
to magnetic planes) as detected by the magnetometer sensor 102 in
the absence of the magnet 204 (or, alternatively, the vehicle 202).
The presence of the magnet 204 within a certain distance of the
magnetometer sensor 102 may cause a change in the magnetic field
detected by magnetometer sensor 102 and a corresponding signal is
transmitted to the processing unit 104 indicating a change in the
magnetic field and thereby the presence of the vehicle 202. In
response, the processing unit 104 may command the wireless
transmitter 106 to transmit a signal to the wireless receiver
mounted on the doorway device 128. The door 126 in the doorway 124
may then be unlocked by the doorway device 128 such that the door
is opened for the vehicle 202 to pass through.
[0043] In an embodiment, the magnetometer sensor 102 may
continuously re-calibrate the magnetic plane, and thereby the base
magnetic field values. As a result, a very short change (e.g., a
change occurring for less than one second) in the magnetic flux
because of the magnet 204 (or, alternatively, the vehicle 202) can
be detected. Re-calibration may therefore limit false detection and
improve sensitivity. The re-calibration may be performed at user
desired time intervals (equal or unequal time), as required by the
application and design.
[0044] The wireless transmitter 106 (and receiver) may use
Bluetooth technology, infrared signals, ultrasonic signals, radio
signals, Radio Frequency Identification, optical signals, video
signals or other electronic signals for communication therebetween.
The wireless transmitter 106 may be powered by the battery powering
the magnetometer sensor 102, a separate battery, or a central power
grid. Similarly, the wireless receiver of the doorway device may be
powered by a removable auxiliary battery, a stationary
high-capacity battery or a central power grid.
[0045] A distance that the magnetometer sensor 102 may be located
from the doorway device may 128 be such that the doorway device
opens in time for the vehicle 202 to pass therethrough. As a
result, the vehicle 202 may not need to stop or decelerate for the
doorway to open, thereby saving time and battery life. In an
example, the distance may depend on one or more of the speed of the
vehicle 202, the time taken to actuate the locking mechanism to
unlock the doorway device, and the time taken for a doorway of the
doorway device to open such that the vehicle may pass.
[0046] Now, considering FIG. 2 again, the doorway device 128
includes, in some implementations, the wireless receiver, the
locking mechanism, engaging a door 126 disposed within a doorway
124, a controller and a battery. The locking mechanism includes a
selectively positionable pin 130. In an unlocked position, the pin
is retracted by the locking mechanism and does not interfere with
operation of the door. The door may be a swinging door or a door
with a hinge 134 located at the top of the doorway 124. In a locked
position, the pin 130 is extended by the locking mechanism and is
inserted into a pin receptacle in the door 126, thus preventing an
operation of the door. In some implementations, the pin is
longitudinally translated to the locked and unlocked, or extended
and retracted, positions by a solenoid or an electric motor within
the locking mechanism. A distal end of the pin, that first enters
the pin receptacle in the doorway, may include a rounded, conical,
pyramidal, pointed or frustum shape to aid the insertion of the pin
into the pin receptacle. Additionally, in the case of the doorway
being a swinging doorway with a hinge connection between the
doorway and the doorway device located at the top of doorway,
magnets may be disposed in the doorway and the doorway device that
cooperatively encourage the doorway towards a vertical or `closed`
position, such that the pin is aligned with the pin receptacle
before the pin is extended into the pin receptacle.
[0047] FIG. 4 illustrates a flowchart of a method 300 of permitting
access to the vehicle 202. As illustrated, the method 300 begins
with the processing unit 104 waking up from a low power sleep mode,
as at 302. The processing unit 104 may check (e.g., at regular or
desired pre-programmed intervals) for a signal from the
magnetometer sensor 102, as at 304. Alternatively, the magnetometer
sensor 102 may provide the signal to the processing unit 104 via an
interrupt. In an embodiment, the signal may include the X, Y, and Z
values of the magnetic field detected by the magnetometer sensor
102. In another embodiment, each of three magnetic planes X, Y, and
Z may be analyzed for instability that could cause false
detections. If a plane is found to continually fluctuate beyond a
threshold established for detection, the plane may be ignored from
the calculations. For instance, magnetic flux changes in that plane
may be disregarded. As at 306, the processing unit 306 may compare
the X, Y, and Z values with the stored base X, Y, and Z values and
determine the difference therebetween. If the difference is above a
pre-determined threshold, then at 308, the processing unit may
command the wireless transmitter 106 to send a signal to the
wireless receiver of the doorway device to open the doorway. In an
example, the doorway may be kept opened for a pre-determined time
period long enough for the vehicle 202 to pass. The time period may
be such that the doorway may open a short interval before the
vehicle 202 passes through the barrier and may remain open a short
interval after the vehicle 202 has passed. This may limit access to
animals, debris or intruders.
[0048] Additionally, at 308, the processing unit 104 may command
the perimeter switch controller 108 to select the appropriate
switching wires. As discussed above, the switching wires may be
selected by selectively activating relays connected thereto. At
310, after the pre-determined time period has expired, doorway may
be closed and locked. In addition, the processing unit 104 may
unselect the switching wires. At 314, the processing unit 104 may
re-enter the sleep mode and the process ends.
[0049] At 306, if the difference between the X, Y, and Z values
read from the magnetometer sensor 102 and the stored base X, Y, and
Z values is below a pre-determined threshold, then at 312, the
recently most recently received value of the magnetic field is
stored and the method proceeds to 314.
[0050] Reference is directed to FIG. 5, which is a plan view
drawing of a perimeter wire 402 arranged in a lawn areas adjacent a
building 405, and according to an illustrative embodiment of the
present invention. The perimeter wire 402 is arranged about a back
lawn area 403 and a front lawn area 401. The back lawn area 403 is
surrounded by a fence 407, which abuts a building 405, such as a
home. There is a door opening 411 in the fence 407, and a door 413
in the doorway 411, which provided limited access between the front
yard 401 and the back yard 403. The wire 402 is buried in the
ground in both the back lawn area 403 and the front lawn area 401,
and is arranged in a loop that extends between the front lawn area
401 and back lawn area 403 of a dwelling 405. The perimeter wire
402 may be electrically energized with a current and/or voltage
flowing through the wire 402. A battery charging base 406 for
charging a robotic mower 202 may be electrically connected to the
wire 402 and located in the backyard 403. However, in other
embodiments, the charging base 406 may be located in the front yard
401 and electrically connected to the wire 402 located in the front
yard 401.
[0051] The wire 402 is used to guide an autonomous vehicle, which
is robotic mower 202 in this embodiment, traveling between the
front yard 401 and the backyard 403. As such, the wire 402 may be
referred to as a guidance wire or a guide wire. For the purposes of
discussions herein, the autonomous vehicle 202 is assumed to be a
robotic lawn mower 202, also referred to as a "mower." However, as
will be understood, the autonomous vehicle 202 may be any type of
self-propelled vehicle, without departing from the scope of the
disclosure. As indicated in FIG. 5 by the several arrows `A`, the
mower 202 travels in the counterclockwise direction, as depicted,
along the wire 402. However, in other embodiments, the mower 202
may travel in the clockwise direction between the front yard 401
and the backyard 403. The wire 402 passes through the doorway 411
in two directions, which are referred to as inbound and outbound
directions.
[0052] The inbound and outbound wires in the loop 402 may be spaced
a certain distance from each other to prevent incorrect operation
due to cross-talk, interference, and the like. However, the spacing
between the wires in the doorway device may be reduced due to the
size of the doorway device. Additional switching wires may be
connected to the perimeter wire near the doorway device to maintain
the separation between the inbound and outbound wires. Based on the
control signal, the perimeter switch controller 108 may be actuated
to select the appropriate switches 110 such that the required
separation is maintained between the inbound and outbound wires
near the doorway device. The appropriate switching wires may be
selected by actuating relays connected to the perimeter wire and
switching wires.
[0053] In an example, the door in the doorway may not open, but may
only be unlocked. Because the door is now rotationally unhindered
by the pin, the vehicle 202 may proceed through the doorway by
driving into the door and lifting, rotating or otherwise displacing
the door. Following the passage of the vehicle through the doorway,
it is ensured that the pin is properly aligned with the pin
receptacle due to gravitational forces and/or other forces between
the door and the doorway device. A confirmation of a proper door
position can be confirmed through a Hall Effect sensor coupled to a
magnet in the door and/or the doorway device. After the
pre-determined time period has elapsed the processing unit directs
the locking mechanism to extend the pin into the pin receptacle in
the doorway, thus re-locking the doorway of the doorway device.
[0054] The disclosed systems and methods can be implemented with a
computer system known to one of ordinary skill in the art, using,
for example, software, hardware, or a combination of both, either
in a dedicated server, or integrated into another entity, or
distributed across multiple entities. An exemplary computer system
includes a bus or other communication mechanism for communicating
information, and a processor coupled with the bus for processing
information. The processor may be locally or remotely coupled with
the bus. By way of example, the computer system may be implemented
with one or more processors. The processor may be a general-purpose
microprocessor, a microcontroller, a Digital Signal Processor
(DSP), an Application Specific Integrated Circuit (ASIC), a Field
Programmable Gate Array (FPGA), a Programmable Logic Device (PLD),
a controller, a state machine, gated logic, discrete hardware
components, or any other suitable entity that can perform
calculations or other manipulations of information. The computer
system also includes a memory, such as a Random Access Memory
(RAM), a flash memory, a Read Only Memory (ROM), a Programmable
Read-Only Memory (PROM), an Erasable PROM (EPROM), registers, a
hard disk, a removable disk, a CD-ROM, a DVD, or any other suitable
storage device, coupled to bus for storing information and
instructions to be executed by processor. The instructions may be
implemented according to any method well known to those of skill in
the art, including, but not limited to, computer languages such as
data-oriented languages (e.g., SQL, dBase), system languages (e.g.,
C, Objective-C, C++, Assembly), architectural languages (e.g.,
Java), and application languages (e.g., PHP, Ruby, Perl, Python).
Instructions may also be implemented in computer languages such as
array languages, aspect-oriented languages, assembly languages,
authoring languages, command line interface languages, compiled
languages, concurrent languages, curly-bracket languages, dataflow
languages, data-structured languages, declarative languages,
esoteric languages, extension languages, fourth-generation
languages, functional languages, interactive mode languages,
interpreted languages, iterative languages, list-based languages,
little languages, logic-based languages, machine languages, macro
languages, metaprogramming languages, multiparadigm languages,
numerical analysis, non-English-based languages, object-oriented
class-based languages, object-oriented prototype-based languages,
off-side rule languages, procedural languages, reflective
languages, rule-based languages, scripting languages, stack-based
languages, synchronous languages, syntax handling languages, visual
languages, wirth languages, and xml-based languages. Memory may
also be used for storing temporary variable or other intermediate
information during execution of instructions to be executed by
processor. The computer system further includes a data storage
device such as a magnetic disk or optical disk, coupled to bus for
storing information and instructions. The computer system may be
coupled via communications module to various devices. The
communications module can be any input/output module. In certain
implementations, the communications module is configured to connect
to a plurality of devices, such as an input device and/or an output
device.
[0055] According to one aspect of the present disclosure, the
disclosed system can be implemented using a computer system in
response to a processor executing one or more sequences of one or
more instructions contained in memory. Such instructions may be
read into memory from another machine-readable medium, such as data
storage device. Execution of the sequences of instructions
contained in main memory causes the processor to perform the
process steps described herein. One or more processors in a
multi-processing arrangement may also be employed to execute the
sequences of instructions contained in memory. In alternative
implementations, hard-wired circuitry may be used in place of or in
combination with software instructions to implement various
implementations of the present disclosure. Thus, implementations of
the present disclosure are not limited to any specific combination
of hardware circuitry and software. According to one aspect of the
disclosure, the disclosed system can be implemented using one or
many remote elements in a computer system (e.g., cloud computing),
such as a processor that is remote from other elements of the
exemplary computer system described above.
[0056] The term "machine-readable medium" as used herein refers to
any medium or media that participates in providing instructions to
the processor for execution. Such a medium may take many forms,
including, but not limited to, non-volatile media, volatile media,
and transmission media. Non-volatile media include, for example,
optical or magnetic disks, such as a data storage device. Volatile
media include dynamic memory, such as memory. Transmission media
include coaxial cables, copper wire, and fiber optics, including
the wires that comprise the bus. Common forms of machine-readable
media include, for example, floppy disk, a flexible disk, hard
disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD, any
other optical medium, punch cards, paper tape, any other physical
medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH
EPROM, any other memory chip or cartridge, or any other medium from
which a computer can read.
[0057] The subject technology is illustrated, for example,
according to various aspects described below. Various examples of
aspects of the subject technology are described as numbered clauses
(1, 2, 3, etc.) for convenience. These are provided as examples,
and do not limit the subject technology. Some of the embodiment
below are presented, for example, with reference to the several
drawing figures.
[0058] One embodiment teaches a method including obtaining a
magnetic field value detected by a magnetometer sensor, comparing
the magnetic field value with a stored magnetic field value,
transmitting a signal to actuate a doorway based on the comparison,
and closing the doorway after a pre-determined time period. A
refinement to this embodiment teaches that the magnetic field value
is obtained from a magnet located on a robotic vehicle. Another
refinement to this embodiment teaches that the doorway is actuated
to open when the magnetic field value is greater than a stored
magnetic field value.
[0059] Another embodiment teaches that a method may be an
operation, an instruction, or a function and vice versa. In one
aspect, an embodiment may be amended to include some or all of the
words (e.g., instructions, operations, functions, or components)
recited in other one or more methods, one or more words, one or
more sentences, one or more phrases, one or more paragraphs, and/or
one or more embodiments.
[0060] To illustrate the interchangeability of hardware and
software, items such as the various illustrative blocks, modules,
components, methods, operations, instructions, and algorithms have
been described generally in terms of their functionality. Whether
such functionality is implemented as hardware, software or a
combination of hardware and software depends upon the particular
application and design constraints imposed on the overall system.
Skilled artisans may implement the described functionality in
varying ways for each particular application.
[0061] As used herein, the phrase "at least one of" preceding a
series of items, with the terms "and" or "or" to separate any of
the items, modifies the list as a whole, rather than each member of
the list (e.g., each item). The phrase "at least one of" does not
require selection of at least one item; rather, the phrase allows a
meaning that includes at least one of any one of the items, and/or
at least one of any combination of the items, and/or at least one
of each of the items. By way of example, the phrases "at least one
of A, B, and C" or "at least one of A, B, or C" each refer to only
A, only B, or only C; any combination of A, B, and C; and/or at
least one of each of A, B, and C.
[0062] The word "exemplary" is used herein to mean "serving as an
example, instance, or illustration." Any embodiment described
herein as "exemplary" is not necessarily to be construed as
preferred or advantageous over other embodiments. Phrases such as
an aspect, the aspect, another aspect, some aspects, one or more
aspects, an implementation, the implementation, another
implementation, some implementations, one or more implementations,
an embodiment, the embodiment, another embodiment, some
embodiments, one or more embodiments, a configuration, the
configuration, another configuration, some configurations, one or
more configurations, the subject technology, the disclosure, the
present disclosure, other variations thereof and alike are for
convenience and do not imply that a disclosure relating to such
phrase(s) is essential to the subject technology or that such
disclosure applies to all configurations of the subject technology.
A disclosure relating to such phrase(s) may apply to all
configurations, or one or more configurations. A disclosure
relating to such phrase(s) may provide one or more examples. A
phrase such as an aspect or some aspects may refer to one or more
aspects and vice versa, and this applies similarly to other
foregoing phrases.
[0063] A reference to an element in the singular is not intended to
mean "one and only one" unless specifically stated, but rather "one
or more." Pronouns in the masculine (e.g., his) include the
feminine and neuter gender (e.g., her and its) and vice versa. The
term "some" refers to one or more. Relational terms such as first
and second and the like may be used to distinguish one entity or
action from another without necessarily requiring or implying any
actual such relationship or order between such entities or actions.
All structural and functional equivalents to the elements of the
various configurations described throughout this disclosure that
are known or later come to be known to those of ordinary skill in
the art are expressly incorporated herein by reference and intended
to be encompassed by the subject technology. Moreover, nothing
disclosed herein is intended to be dedicated to the public
regardless of whether such disclosure is explicitly recited in the
above description. No clause element is to be construed under the
provisions of 35 U.S.C. .sctn. 112, sixth paragraph, unless the
element is expressly recited using the phrase "means for" or, in
the case of a method clause, the element is recited using the
phrase "step for."
[0064] While this specification contains many specifics, these
should not be construed as limitations on the scope of what may be
described, but rather as descriptions of particular implementations
of the subject matter. Certain features that are described in this
specification in the context of separate embodiments can also be
implemented in combination in a single embodiment. Conversely,
various features that are described in the context of a single
embodiment can also be implemented in multiple embodiments
separately or in any suitable subcombination. Moreover, although
features may be described above as acting in certain combinations
and even initially described as such, one or more features from a
described combination can in some cases be excised from the
combination, and the described combination may be directed to a
subcombination or variation of a sub combination.
[0065] The subject matter of this specification has been described
in terms of particular aspects, but other aspects can be
implemented and are within the scope of the clauses. For example,
while operations are depicted in the drawings in a particular
order, this should not be understood as requiring that such
operations be performed in the particular order shown or in
sequential order, or that all illustrated operations be performed,
to achieve desirable results. The actions recited in the clauses
can be performed in a different order and still achieve desirable
results. As one example, the processes depicted in the accompanying
figures do not necessarily require the particular order shown, or
sequential order, to achieve desirable results. In certain
circumstances, multitasking and parallel processing may be
advantageous. Moreover, the separation of various system components
in the aspects described above should not be understood as
requiring such separation in all aspects, and it should be
understood that the described program components and systems can
generally be integrated together in a single software product or
packaged into multiple software products.
[0066] The title, background, brief description of the drawings,
abstract, and drawings are hereby incorporated into the disclosure
and are provided as illustrative examples of the disclosure, not as
restrictive descriptions. It is submitted with the understanding
that they will not be used to limit the scope or meaning of the
clauses. In addition, in the detailed description, it can be seen
that the description provides illustrative examples and the various
features are grouped together in various implementations for the
purpose of streamlining the disclosure. The method of disclosure is
not to be interpreted as reflecting an intention that the described
subject matter requires more features than are expressly recited in
each clause. Rather, as the clauses reflect, inventive subject
matter lies in less than all features of a single disclosed
configuration or operation. The clauses are hereby incorporated
into the detailed description, with each clause standing on its own
as a separately described subject matter.
[0067] The clauses are not intended to be limited to the aspects
described herein, but are to be accorded the full scope consistent
with the language clauses and to encompass all legal equivalents.
Notwithstanding, none of the clauses are intended to embrace
subject matter that fails to satisfy the requirements of the
applicable patent law, nor should they be interpreted in such a
way.
[0068] Thus, the present invention has been described herein with
reference to a particular embodiment for a particular application.
Those having ordinary skill in the art and access to the present
teachings will recognize additional modifications, applications and
embodiments within the scope thereof.
[0069] It is therefore intended by the appended claims to cover any
and all such applications, modifications and embodiments within the
scope of the present invention.
* * * * *